{"id":363,"date":"2024-11-21T00:42:21","date_gmt":"2024-11-21T00:42:21","guid":{"rendered":"https:\/\/blogs.oregonstate.edu\/marineautonomy\/?page_id=363"},"modified":"2025-04-24T15:57:45","modified_gmt":"2025-04-24T15:57:45","slug":"coordinated-manipulation","status":"publish","type":"page","link":"https:\/\/blogs.oregonstate.edu\/marineautonomy\/coordinated-manipulation\/","title":{"rendered":"Coordinated Manipulation"},"content":{"rendered":"\n

Sponsor: Office of Naval Research
ONR Award Number: N00014-22-1-2114
Project Lead: Geoff Hollinger (OSU)
Project Dates: January 2022-January 2026<\/p>\n\n\n\n

The focus of this project is on novel fundamental research to enable cooperative robotic manipulation in challenging environments. The project consists of three major technical thrusts: (1) reactive tactile sensing and grasping, (2) multi-arm coordination and communication, and (3) semantic command and control decision support system design. Together, the project envisions a system of multiple semi-autonomous manipulator arms capable of performing complex manipulation tasks, such as hull cleaning, pier maintenance, and environmental sampling, in complex environments with poor visibility and high levels of sensing noise. <\/p>\n\n\n\n

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Solid model of the manipulation test stand that is being developed. The Blueprint arms and perception sensors are mounted on a carriage. The platform provides four degrees of freedom: x, y, & z-translation plus yaw.<\/em> (Image credit: UW-APL and OSU)<\/figcaption><\/figure>\n\n\n\n

Publications & Presentations<\/h2>\n\n\n\n

2025<\/h3>\n\n\n\n

A. Agrawal, P. Mayer, Z. Kingston, G. Hollinger, “Constrained nonlinear Kaczmarz projection on intersections of manifolds for coordinated multi-robot mobile manipulation<\/a>,” Proc. IEEE International Conference on Robotics and Automation, Atlanta, GA, May 2025.<\/p>\n\n\n\n

C. Jain, B. He, S. Patil, L. Sanchez, H. Knight, “Verbal C2 for Underwater In-Contact Manipulation: A Semantic Approach to Somatic Task Guidance,” OCEANS 2025 Brest: A UN Oceans Decade Conference, Brest, France, June 16\u201319, 2025.<\/p>\n\n\n\n

2024<\/h3>\n\n\n\n

F. Aderinto, J. Bhagat Smith, M.-R. Giolando, P. Baskaran, and J. A. Adams, \u201cImproving Human-Robot Team Transparency with Eye-Tracking based Situation Awareness Assessment<\/a>,\u201d HRI \u201924: Companion of the 2024 ACM\/IEEE International Conference on Human-Robot Interaction<\/em>, Pages 177 \u2013 181.<\/p>\n\n\n\n

S. Buchmeier, \u201cAnalyzing Human Grasping Decisions to Support Shared Autonomy for Grasping Underwater Objects<\/a>\u201d. MS Thesis, Oregon State University, 2024. <\/p>\n\n\n\n

Skand Peri, Iain Lee, Chanho Kim, Li Fuxin, Tucker Hermans, and Stefan Lee. \u201cPoint Cloud Models Improve Visual Robustness in Robotic Learners<\/a>.\u201d International Conference on Robotics and Automation<\/em> (ICRA), 2024.<\/p>\n\n\n\n

K.Y. Puente, M. Sadler, C.G. Wilson, and J.R. Davidson, \u201cCan novice supervisors determine successful from unsuccessful grasps from tactile sensing?\u201d, in IEEE Int\u2019l Symposium on Robot and Human Interactive Communication (RO-MAN)<\/em><\/a>, Late breaking report, Pasadena, CA, Aug. 2024, 4pp.<\/p>\n\n\n\n

R. Singh and G. Hollinger, “Motion-aware underwater robotic grasping<\/a>,” in Proc. IEEE OCEANS Conference<\/em>, Halifax, Canada, September 2024.<\/p>\n\n\n\n

2023<\/h3>\n\n\n\n

Satyam Bhawsinghka, \u201cHydraulically modulated silicone knuckles for variable control of joint stiffness and proprioception\u201d, MS Robotics, <\/em>Oregon State University, 2023. <\/p>\n\n\n\n

C. Votzke, \u201cStretchable Electronics for Wearable Devices and Soft Robotics<\/a>,\u201d PhD Thesis, Oregon State University, 2023.<\/p>\n\n\n\n

2022<\/h3>\n\n\n\n

A. Agrawal, D. Chang, and G. Hollinger, “Task and motion planning for collective robotic construction,” in Proc. IEEE International Conference on Robotics and Automation Workshop on Collective Robotic Construction<\/em> (ICRA), Philadelphia, PA, May 2022.<\/p>\n\n\n\n

Return to projects page<\/a>…<\/p>\n","protected":false},"excerpt":{"rendered":"

Sponsor: Office of Naval ResearchONR Award Number: N00014-22-1-2114Project Lead: Geoff Hollinger (OSU)Project Dates: January 2022-January 2026 The focus of this project is on novel fundamental research to enable cooperative robotic manipulation in challenging environments. The project consists of three major technical thrusts: (1) reactive tactile sensing and grasping, (2) multi-arm coordination and communication, and (3) … <\/p>\n

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